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Is the PWM on the PF Servo motor different than the PWM from an Arduino?@AtesGoral Wow! It's been a long time since I looked at this. All of my code is on github if that helps. github.com/tooshel/androdino/tree/master/arduino Another notable problem I had was the 9 volts from the Lego power pack would end up as about 6 volts by the time it went though the Arduino Motor Shield so I had to rig up an extra Lego power pack with only 3 batteries and aluminum foil for the other three, and make another custom cable that put the two batter packs in serial. Yeah, it was crazy. Thank goodness for sbrick!